// TI File $Revision: /main/2 $
// Checkin $Date: December 2, 2004   11:43:13 $
//###########################################################################
//
// FILE:   DSP280x_EQep.c
//
// TITLE:  DSP280x eQEP Initialization & Support Functions.
//
//###########################################################################
// $TI Release: DSP280x V1.10 $
// $Release Date: April 18, 2005 $
//###########################################################################

#include "DSP280x_Device.h"     // DSP280x Headerfile Include File
#include "DSP280x_Examples.h"   // DSP280x Examples Include File

//---------------------------------------------------------------------------
// InitEQep: 
//---------------------------------------------------------------------------
// This function initializes the eQEP(s) to a known state.
//
void InitEQep(void)
{
   // Initialize eQEP1/2

   //tbd...
 
}

//---------------------------------------------------------------------------
// Example: InitEQepGpio: 
//---------------------------------------------------------------------------
// This function initializes GPIO pins to function as eQEP pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.  
// 
// Caution: 
// For each eQEP peripheral
// Only one GPIO pin should be enabled for EQEPxA operation. 
// Only one GPIO pin should be enabled for EQEPxB operation. 
// Only one GPIO pin should be enabled for EQEPxS operation. 
// Only one GPIO pin should be enabled for EQEPxI operation.
// Comment out other unwanted lines.

void InitEQepGpio()
{
   InitEQep1Gpio();
#if DSP28_2808 || DSP28_2806     
   InitEQep2Gpio();
#endif // endif DSP28_2808 || DSP28_2806     
}

void InitEQep1Gpio(void)
{
   EALLOW;
	
/* Enable internal pull-up for the selected pins */
// Pull-ups can be enabled or disabled by the user. 
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAPUD.bit.GPIO20 = 0;   // Enable pull-up on GPIO20 (EQEP1A)
    GpioCtrlRegs.GPAPUD.bit.GPIO21 = 0;   // Enable pull-up on GPIO21 (EQEP1B)
    GpioCtrlRegs.GPAPUD.bit.GPIO22 = 0;   // Enable pull-up on GPIO22 (EQEP1S)
    GpioCtrlRegs.GPAPUD.bit.GPIO23 = 0;   // Enable pull-up on GPIO23 (EQEP1I)


// Inputs are synchronized to SYSCLKOUT by default.  
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAQSEL2.bit.GPIO20 = 0;   // Sync to SYSCLKOUT GPIO20 (EQEP1A)
    GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 0;   // Sync to SYSCLKOUT GPIO21 (EQEP1B)
    GpioCtrlRegs.GPAQSEL2.bit.GPIO22 = 0;   // Sync to SYSCLKOUT GPIO22 (EQEP1S)
    GpioCtrlRegs.GPAQSEL2.bit.GPIO23 = 0;   // Sync to SYSCLKOUT GPIO23 (EQEP1I)

/* Configure eQEP-1 pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eQEP1 functional pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1;   // Configure GPIO20 as EQEP1A
    GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 1;   // Configure GPIO21 as EQEP1B
    GpioCtrlRegs.GPAMUX2.bit.GPIO22 = 1;   // Configure GPIO22 as EQEP1S
    GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 1;   // Configure GPIO23 as EQEP1I


    EDIS;
}



#if DSP28_2808 || DSP28_2806
void InitEQep2Gpio(void)
{
   EALLOW;
	
/* Enable internal pull-up for the selected pins */
// Pull-ups can be enabled or disabled by the user. 
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAPUD.bit.GPIO24 = 0;    // Enable pull-up on GPIO24 (EQEP2A)
    GpioCtrlRegs.GPAPUD.bit.GPIO25 = 0;    // Enable pull-up on GPIO25 (EQEP2B)
    GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0;    // Enable pull-up on GPIO26 (EQEP2I)
    GpioCtrlRegs.GPAPUD.bit.GPIO27 = 0;    // Enable pull-up on GPIO27 (EQEP2S)

// Inputs are synchronized to SYSCLKOUT by default.  
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAQSEL2.bit.GPIO24 = 0;  // Sync to SYSCLKOUT GPIO24 (EQEP2A)
    GpioCtrlRegs.GPAQSEL2.bit.GPIO25 = 0;  // Sync to SYSCLKOUT GPIO25 (EQEP2B)               
    GpioCtrlRegs.GPAQSEL2.bit.GPIO26 = 0;  // Sync to SYSCLKOUT GPIO26 (EQEP2I)               
    GpioCtrlRegs.GPAQSEL2.bit.GPIO27 = 0;  // Sync to SYSCLKOUT GPIO27 (EQEP2S)               
                              
/* Configure eQEP-2 pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eQEP2 functional pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 2;   // Configure GPIO24 as EQEP2A
    GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 2;   // Configure GPIO25 as EQEP2B          
    GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 2;   // Configure GPIO26 as EQEP2I          
    GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 2;   // Configure GPIO27 as EQEP2S          


    EDIS;
}
#endif // endif DSP28_2808 || DSP28_2806   




//===========================================================================
// End of file.
//===========================================================================
